Anaheim Stepper DPE25601 Users Guide

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Direct mode is used to directly control the motion for real time movemen\
ts through serial communication.  
The DPE25601 has 40 commands which are easy to remember for direct movem\
ent of a step motor.
COM Port Settings
Baud Rate: 38400
Parity: None
Data Bits: 8
Stop Bits: 1
Flow Control:  Xon/Xoff
Unit Selection
In order to select a unit the @ command followed by 0 (address of the u\
nit) must be sent.
NOTE: There should be no spaces between the @ and address select.
How to select the unit:
@0...

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A - Acceleration/Deceleration
Format:  A[value]
Description:  This command sets the acceleration profile which is an integer value between 
100 and 9,999,999.  The higher the value, the faster the motor acceleration.
Range:    100 - 9,999,999
B - Base Speed
Format:  B[value]
Description:  This command sets the base (start) speed for motion.  This value must be 
set before motion begins and be less then the maximum speed and fast jog\
 speed.
Range:    1 - 5000
C - Number of Steps Between Outputs...

33
ED - Encoder Delay
Format:  ED[value]
Description:  This  command  sets  the  wait  time  a  specified  number  of  milliseconds  after 
a relative index or absolute move is finished, before reading the encoder.  This is used to 
remove the ringing that might be associated with the mechanics of the system.  This com-
mand is used in conjunction with the encoder auto correct “EA” com\
mand.
Range:    0 - 65535
EM - Encoder Motor Ratio
Format:  EM[value]
Description:  This represents the ratio for the...

34
G - Go Number of Steps
Format:  G
Description:  This command is used to send a set number of clocks out of the DPE25601 \
controller.  An N or P command must be entered before the G command.  The ramp profile 
is specified by the B (base speed), M (max speed), and A (acceleration/deceleration) com-
mands.
H - Home
Format:   H[0 or 1]
Description: 
Home Types:  H0: In type 0 homing, the DPE25601 will send clocks until a soft limit is 
reached, then ramp down to base speed.  Clocks will continue at...

35
M - Max Speed and Analog Speed
Format 1: M[value]
Description:  This command sets the maximum (running) speed for motion.  This value 
must be set before motion begins, and be greater than the base speed.
Range:    1 - 50000
Format 2:  M
Description:  This command uses the voltage on input 1 to calculate and set the max 
speed.  The analog speed must be enabled for this command to work.  This command is 
used in conjuction with the analog speed “;”, the analog speed lower limit “[“, and the analog...

36
P - Absolute Position and Analog Position
Format 1: P[value]
Description:  This command calculates and sets the number of clocks for the DPE25601 
to send out following a G command.  Motion is not activated by this command; it only sets 
the register.  (N = P - Z)
Range:    -8388607 to +8388607
Format 2:  P
Description:  This command uses the voltage on input 1 to calculate and set the number 
of clocks for the DPE25601 to send out following a G command.  The analog position must 
be enabled for this...

37
V - Verify
Format:   V[command]
Description:  This command can be used with most commands to verify the register con-
tents.  This is a read only command.  Valid Commands are shown below.
Z - Position 
Format:   Z[value]
Description:  This command sets the current position as a reference.  This register can 
contain a positive or negative value but, cannot be changed while motion\
 is in progress.
Range:    -8388607 to +8388607
! - Error Codes Register
Format:  !
Description:  This command requests...

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% - Verify Address Register
Format:   %   (No address is needed before this function. @% will return the address)
Description:  This command requests the DPE25601 controller to return its internal ad-
dress number to the PC or PLC.
‘ - Index on the Fly Enabled
Format:   ‘[0 or 1]
Description:  This command will either enable or disable the index on the fly function.  To 
enable the function, use a 1.  To disable the function use a 0.  This command is used in 
conjunction with the number of steps “N”...

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/ - Thumbwheel Index Enabled
Format:  /[0 or 1]
Description:  This command will either enable or disable the ability to use the thumbwheel 
switches for indexing.  If enable, SW2 must be in the TWS position for the thumbwheel to 
be connected to the processor.
: - Analog Position Enabled
Format:   :[0 or 1]
Description:  This command will either enable or disable input 1 to be used to set the\
 analog 
position.  To enable the function, use a 1.  To disable the function use a 0.  This command 
is used...

40
^ - Number of Outputs During Output on the Fly
Format:  ^[value]
Description:  This command sets the number of times output 1 will turn on during an output 
on the fly move.  This command is used in conjunction with the output on the fly enabled “(“ 
command.
Range:    0 - 255
{ - Analog Position Lower Limit
Format:  {[value]
Description:  This command sets the lower limit that is used during the calculation follow -
ing a P command for the analog position input.  This command is used in conjunction...